Diff: bench.h

Revision:

4:1cdce6c6c94e

Parent:

0:3855d4588f76

Child:

5:63063a9fa51c

--- a/bench.h	Tue Jun 05 08:51:45 2018 +0000
+++ b/bench.h	Fri Oct 12 12:12:55 2018 +0000
@@ -4,6 +4,7 @@
 #include "mbed.h"
 #include "as5048.h"
 #include "lcm101.h"
+#include "SPTEPressureSensor.h"
 #include "constants.h"
 
 /**
@@ -11,6 +12,8 @@
  * the upper and lower leg, foot en toe setup with 1-dof hinges,
  * each of which is equipped with an AMS AS5048 absolute rotary sensor.
  * The sensors are daisy chained and communicate via SPI
+ * also includes a load cell measuring the vertical force applied externally to 
+ * the hip and pressure sensors connected to the setup
  */
 class Bench {
 public:
@@ -25,7 +28,7 @@
         HIP
     };
 
-    Bench(PinName mosi, PinName miso, PinName sck, PinName cs, PinName p_lcm101);
+    Bench(PinName mosi, PinName miso, PinName sck, PinName cs, PinName p_lcm101, PinName p_spte0, PinName p_spte1);
     
     void Update();
 
@@ -40,6 +43,12 @@
     const char* getJointName(Joint joint);
 
     float getForce();
+    void nullForce();
+    
+    float getPressure0();
+    void nullPressure0();
+    float getPressure1();
+    void nullPressure1();
     
     As5048* get_as5048();
 
@@ -47,6 +56,8 @@
 private:
     As5048 as5048_;
     Lcm101 lcm101_;
+    SPTEPressureSensor spte0;
+    SPTEPressureSensor spte1;
 };
 
 #endif
\ No newline at end of file